Motion control of an omni-directional walker for walking support

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingChapter

7 Citations (Scopus)

Abstract

With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user's directional intention based on the user's forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user's intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.

Original languageEnglish
Title of host publicationAssistive Technologies: Concepts, Methodologies, Tools, and Applications
PublisherIGI Global
Pages614-622
Number of pages9
ISBN (Print)9781466644243, 9781466644236
DOIs
Publication statusPublished - 2013 Aug 31
Externally publishedYes

Fingerprint

Motion control
Gravitation
Accidents
disability
Trajectories
accident
illness
simulation

ASJC Scopus subject areas

  • Computer Science(all)
  • Social Sciences(all)
  • Engineering(all)

Cite this

Tan, R., Wang, S., Jiang, Y., Ishida, K., & Fujie, M. G. (2013). Motion control of an omni-directional walker for walking support. In Assistive Technologies: Concepts, Methodologies, Tools, and Applications (pp. 614-622). IGI Global. https://doi.org/10.4018/978-1-4666-4422-9.ch029

Motion control of an omni-directional walker for walking support. / Tan, Renpeng; Wang, Shuoyu; Jiang, Yinlai; Ishida, Kenji; Fujie, Masakatsu G.

Assistive Technologies: Concepts, Methodologies, Tools, and Applications. IGI Global, 2013. p. 614-622.

Research output: Chapter in Book/Report/Conference proceedingChapter

Tan, R, Wang, S, Jiang, Y, Ishida, K & Fujie, MG 2013, Motion control of an omni-directional walker for walking support. in Assistive Technologies: Concepts, Methodologies, Tools, and Applications. IGI Global, pp. 614-622. https://doi.org/10.4018/978-1-4666-4422-9.ch029
Tan R, Wang S, Jiang Y, Ishida K, Fujie MG. Motion control of an omni-directional walker for walking support. In Assistive Technologies: Concepts, Methodologies, Tools, and Applications. IGI Global. 2013. p. 614-622 https://doi.org/10.4018/978-1-4666-4422-9.ch029
Tan, Renpeng ; Wang, Shuoyu ; Jiang, Yinlai ; Ishida, Kenji ; Fujie, Masakatsu G. / Motion control of an omni-directional walker for walking support. Assistive Technologies: Concepts, Methodologies, Tools, and Applications. IGI Global, 2013. pp. 614-622
@inbook{ce85e37a310c4a14a56e20e5d4835cca,
title = "Motion control of an omni-directional walker for walking support",
abstract = "With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user's directional intention based on the user's forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user's intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.",
author = "Renpeng Tan and Shuoyu Wang and Yinlai Jiang and Kenji Ishida and Fujie, {Masakatsu G.}",
year = "2013",
month = "8",
day = "31",
doi = "10.4018/978-1-4666-4422-9.ch029",
language = "English",
isbn = "9781466644243",
pages = "614--622",
booktitle = "Assistive Technologies: Concepts, Methodologies, Tools, and Applications",
publisher = "IGI Global",

}

TY - CHAP

T1 - Motion control of an omni-directional walker for walking support

AU - Tan, Renpeng

AU - Wang, Shuoyu

AU - Jiang, Yinlai

AU - Ishida, Kenji

AU - Fujie, Masakatsu G.

PY - 2013/8/31

Y1 - 2013/8/31

N2 - With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user's directional intention based on the user's forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user's intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.

AB - With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user's directional intention based on the user's forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user's intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.

UR - http://www.scopus.com/inward/record.url?scp=84944415895&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84944415895&partnerID=8YFLogxK

U2 - 10.4018/978-1-4666-4422-9.ch029

DO - 10.4018/978-1-4666-4422-9.ch029

M3 - Chapter

AN - SCOPUS:84944415895

SN - 9781466644243

SN - 9781466644236

SP - 614

EP - 622

BT - Assistive Technologies: Concepts, Methodologies, Tools, and Applications

PB - IGI Global

ER -